NDLI: Combined Vector Field Approach for 2D and 3D Arbitrary Twice Differentiable Curved Path Following with Constrained UAVs

Content Provider	Springer Nature Link
Author	Liang, Yueqian Jia, Yingmin
Copyright Year	2015
Abstract	Path following is an essential requirement for unmanned aerial vehicles (UAVs). Path following problems of 2-dimensional (2D) straight lines and planar circles have been studied and many approaches have been proposed during the past few years. In this paper the problem of following arbitrary twice differentiable curved paths in both 2D and 3D spaces is investigated. Based on the Helmholtz theorem, respective combined guidance vector fields for any given 2D and 3D arbitrary twice differentiable curved paths are constructed by trading off the respective conservative and solenoidal vector fields making use of the defined distance between the UAV and the desired path. Conditions for the two combined vector fields to be globally feasible are given. UAV input constraints and constant wind disturbance are assumed to be present. By tracking the constructed combined vector fields, a saturated course rate controller for 2D curved path following and a jointly saturated course rate and climb rate controller for 3D curved path following are designed. The Lyapunov stability of the saturated course rate controller for 2D curved path following is proved. Numerical simulations are given to assess the proposed approach.
Ending Page	160
Page Count	28
Starting Page	133
File Format	PDF
ISSN	09210296
e-ISSN	15730409
Journal	Journal of Intelligent & Robotic Systems
Issue Number	1
Volume Number	83
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-11-23
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Systems governed by ordinary differential equations Unmanned aerial vehicle Applications Input constraint Lyapunov and other classical stabilities (Lagrange, Poisson, $L^p, l^p$, etc.) Asymptotic properties Control, Robotics, Mechatronics Path following Artificial Intelligence (incl. Robotics) Guidance vector field Mechanical Engineering Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Unmanned Aircraft Vector Field Path Following with Arrival Angle Control

A Dynamic-compensation Approach to Impedance Control of Robot Manipulators

Ground Target Tracking Control System for Unmanned Aerial Vehicles

Continuous Airborne Communication Relay Approach Using Unmanned Aerial Vehicles

Coverage Path Planning for UAVs Photogrammetry with Energy and Resolution Constraints

Sliding Mode Control with Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic Servo-System

A Service-Oriented Middleware for Building Collaborative UAVs

Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP

3D Path Planning for Multiple UAVs for Maximum Information Collection

Combined Vector Field Approach for 2D and 3D Arbitrary Twice Differentiable Curved Path Following with Constrained UAVs

Similar Documents

Unmanned Aircraft Vector Field Path Following with Arrival Angle Control

A Dynamic-compensation Approach to Impedance Control of Robot Manipulators

Ground Target Tracking Control System for Unmanned Aerial Vehicles

Continuous Airborne Communication Relay Approach Using Unmanned Aerial Vehicles

Coverage Path Planning for UAVs Photogrammetry with Energy and Resolution Constraints

Sliding Mode Control with Adaptive Fuzzy Dead-Zone Compensation of an Electro-hydraulic Servo-System

A Service-Oriented Middleware for Building Collaborative UAVs

Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP

3D Path Planning for Multiple UAVs for Maximum Information Collection

Combined Vector Field Approach for 2D and 3D Arbitrary Twice Differentiable Curved Path Following with Constrained UAVs